Sille Van Landschoot / Mbed 2 deprecated m3Dpi-helloworld

m3Dpi robot, based on the Pololu 3pi and m3pi. m3Dpi has multiple distance sensors, gyroscope, compass and accelerometer sensor to be fully aware of its environment. With the addition of xbee or nrf24n01 module it has wireless communication capabilities.

Dependencies:   m3Dpi mbed-rtos mbed MbedJSONValue

main.cpp

Committer:
sillevl
Date:
2016-01-20
Revision:
14:06576ab99415
Parent:
13:d6374484b953
Child:
16:0043244f8a61

File content as of revision 14:06576ab99415:

#include "mbed.h"
#include "rtos.h"
#include "M3Dpi.h"
#include "jsonReporter.h"
#include "binaryReporter.h"

const char M3DPI_ID[] = "1234567890";

M3Dpi robot;
Serial pc(USBTX,USBRX);
Reporter* report = new JsonReporter(&pc, M3DPI_ID);

m3dpi::Distance distance;
m3dpi::Direction direction;
m3dpi::Rotation rotation;
m3dpi::Acceleration acceleration;


void setLeds(m3dpi::Distance distance)
{
    int colors[8] = {distance.front, distance.front_right, distance.right, distance.back_right, distance.back, distance.back_left, distance.left, distance.front_left};
    // shift distance value to get red colors
    for(int i = 0; i < 8; i++){
        colors[i] = ((~(colors[i]*2)) & 0xFF) << 16;
    }
    robot.setLeds(colors);
}

void read_sensors_task(void const *name)
{
    //Timer t; t.start();
    robot.setStatus(Color::GREEN);
    ::distance = robot.getDistance();
    direction = robot.getDirection();
    rotation = robot.getRotation();
    acceleration = robot.getAcceleration();
    setLeds(::distance);
    robot.setStatus(Color::BLACK);
    //t.stop();pc.printf("*** Sensor acquisition time: %d us\r\n", t.read_us());
}

void report_task(void const *name)
{
    //Timer t; t.start();
    report->distance(::distance);
    report->direction(direction);
    report->rotation(rotation);
    report->acceleration(acceleration);
    //t.stop();pc.printf("*** Report time: %d us\r\n", t.read_us());
}

void receive_task(void const *name)
{
    
}

void idle_task(void const *name)
{
    
}

int main()
{            
    pc.baud(115200);
    
    RtosTimer read_sensors_timer(read_sensors_task, osTimerPeriodic);
    read_sensors_timer.start(50);
    
    RtosTimer report_timer(report_task, osTimerPeriodic);
    report_timer.start(500);
    
    Thread receive_thread(receive_task);
    Thread idle_thread(idle_task, NULL, osPriorityLow);
    
    Thread::wait(osWaitForever);
}